#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "FreeRTOS.h"
#include "task.h"
#include "system_LPC17xx.h"
#include "GLCD.h"
#include "vtUtilities.h"
#include "LCDtask.h"
#include "string.h"
#include "math.h"
#include "lpc17xx_pinsel.h"
#include "lpc17xx_libcfg_default.h"


#define ULTRASONIC 0x01
#define COLOR 0x02
#define ENCODER 0x3
#define MOTORCONTROLLER 0x04

// Motor Controll Commands
#define AdjustLeft 

#define COMMSMSGSIZE 9
#define MAXDATASIZE 6 

typedef struct __Comms_Msg_Struct
{
   unsigned char msgType;
   unsigned char counter;
   unsigned char size;
   unsigned char data[MAXDATASIZE];
} Comms_Msg_Struct;

typedef union __Comms_Msg_Union
{
   unsigned char msgData[COMMSMSGSIZE];
   Comms_Msg_Struct commsMsg;
} Comms_Msg_Union;


void Init_CommandThread();

